CN104482954B - Coder, external diagnosis equipment and on-line diagnosis and adjustment method - Google Patents
Coder, external diagnosis equipment and on-line diagnosis and adjustment method Download PDFInfo
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Abstract
The invention relates to the field of communication, and discloses a coder, external diagnosis equipment and an on-line diagnosis and adjustment method. The on-line diagnosis and adjustment method includes the following steps that if the basic state of the coder is normal, the external diagnosis equipment reads operation parameters of the coder from a register in the coder through an I2C interface in the coder, wherein the operation parameters include the amplitude value, direct-current offset and phase of an output signal of the coder; the external diagnosis equipment determines the operation state of the coder according to the operation parameters, and adjusts the operation parameters according to the operation state until the operation parameters are within a preset range, and otherwise it is judged that the coder is abnormal. In this way, the external diagnosis equipment can remotely read the operation parameters in the register in the coder on line through the I2C driving interface and remotely adjust the operation parameters on line, it is unnecessary to repair the coder through disassembling the coder, then the design complexity is lowered, and the adjustment reliability of the coder is improved.
Description
Technical Field
The invention relates to the field of communication, in particular to an encoder, external diagnosis equipment and an online diagnosis and adjustment method.
Background
The encoder plays an important role during the commissioning and operation of the elevator. However, because the running environment of the elevator is severe, the encoder is easy to have problems such as no signal output, pulse loss caused by amplitude deviation change of output signals, system failure caused by phase change of output signals and the like. Meanwhile, sometimes the encoder itself has no problem, and the change of the surrounding environment can also cause the encoder error reported by the system.
In the above case, it is necessary to evaluate whether or not the encoder is damaged and the degree of the damage and to adjust according to the situation. At present, the encoder on the market is mostly fixed integrated, and when the encoder goes wrong, the only way is to tear down the encoder and carry out relevant detection, can't realize online diagnosis and carry out online adjustment encoder according to the diagnosis result, must influence maintenance efficiency like this.
One solution to the above problem is to combine a common signal conditioning chip, a peripheral configuration circuit, and a communication circuit. However, in this solution, the amplitude and dc offset need to be adjusted by adding a digital potentiometer with a communication interface, and an additional phase adjustment circuit is needed for phase adjustment. Obviously, this approach increases the complexity of the design and reduces the reliability of the encoder adjustments.
Disclosure of Invention
The invention aims to provide an encoder, external diagnosis equipment and an online diagnosis and adjustment method, which can reduce the complexity of design and improve the reliability of encoder adjustment.
In order to solve the above technical problem, an embodiment of the present invention provides an online diagnosis and adjustment method, including the following steps:
if the basic state of the encoder is normal, the external diagnostic equipment reads the operating parameters of the encoder from a register built in the encoder through an I2C interface on the encoder; wherein the operating parameters include an amplitude, a DC offset, and a phase of an output signal of the encoder;
and the external diagnostic equipment determines the running state of the encoder according to the running parameters, adjusts the running parameters according to the running state until the running parameters are in a preset range, and otherwise, judges that the encoder is abnormal.
An embodiment of the present invention further provides an encoder, including: the signal conditioning chip and the I2C driving module;
the signal conditioning chip is internally provided with a register and comprises an I2C interface which is communicated with the I2C driving module;
the operating parameters of the encoder stored in the built-in register of the signal conditioning chip are read and adjusted by external diagnostic equipment through the I2C interface; wherein the operating parameters include an amplitude, a DC offset, and a phase of an output signal of the encoder;
the I2C driving module converts the information output by the signal conditioning chip through the I2C interface into differential signals to be output to the external diagnostic equipment.
An embodiment of the present invention also provides an external diagnostic apparatus including: the device comprises an information processing and compensating unit and a display module;
the information processing and compensating unit is connected with the display module;
the information processing and compensating unit diagnoses and compensates the operating parameters read from the built-in register of the encoder;
the display module displays the diagnosis state.
Compared with the prior art, the encoder comprises the I2C interface, and the external diagnostic equipment can read the operating parameters in the built-in register of the encoder on line through the I2C interface and adjust the operating parameters on line according to the read operating parameters, so that the encoder does not need to be dismantled for maintenance, the times of dismantling the encoder during maintenance are reduced, the service life and the maintenance efficiency of the encoder are improved, the design complexity is reduced, and the reliability of the adjustment of the encoder is improved.
Drawings
FIG. 1 is a schematic diagram of an encoder structure according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an I2C driving module according to a first embodiment of the present invention;
fig. 3 is a schematic configuration diagram of an external diagnostic apparatus according to a second embodiment of the present invention;
FIG. 4 is a flow chart of an online diagnosis and adjustment method according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to an encoder, specifically as shown in fig. 1, including: photoelectric chip (IC), signal conditioning chip, I2C drive module and memory.
The signal conditioning chip is internally provided with a register and comprises a communication interface for communicating with the I2C driving module, and the photoelectric IC is connected with the signal conditioning chip. In this embodiment, the communication interface is an I2C interface.
And the photoelectric IC is used for converting the received optical signal into a voltage signal and outputting the voltage signal to the signal conditioning chip. Wherein, the voltage signal is the original voltage signal of the photocell. Specifically, the photoelectric IC receives the optical signal conditioned by the grating, converts the optical signal into an electrical signal, performs a primary current-to-voltage conversion process, and outputs an optical cell original voltage signal.
When the system is powered on, the signal conditioning chip reads the operating parameters such as the amplitude, the direct current offset and the phase of the output signal configured in the memory through the I2C interface. In this embodiment, the memory is a charged erasable programmable read only memory (EEPROM). Of course, other conventional memories may be used.
The running parameters of the encoder stored in the built-in register of the signal conditioning chip can be read and adjusted on line by external diagnostic equipment through an I2C interface; wherein the operating parameters comprise amplitude, DC offset and phase of an output signal of the encoder; the external diagnostic device can be a handheld device or an elevator controller.
Furthermore, the signal conditioning chip can also store the information of overlarge and undersize amplitude of the output signal of the encoder, the existence of loss of the signal, the existence of peak clipping of the signal and the existence of temperature protection in a register and a memory. The external diagnostic equipment can read the information in the register and the memory on line through an I2C interface, preliminarily judge the health state of the encoder and judge whether to carry out further maintenance or not according to the health state, so that the maintenance efficiency can be further improved.
Furthermore, the signal conditioning chip can also automatically adjust the amplitude according to the environment. When the environment changes, the encoder can adjust the running parameters of the encoder according to the change of the environment, so that the encoder adapts to a new environment and keeps a good running state. Therefore, the adaptability of the encoder to the environment is enhanced, the disassembly times of the encoder are further reduced, and the service life of the encoder is prolonged.
The I2C driving module converts the information output by the signal conditioning chip through the I2C interface into differential signals to be output to external diagnostic equipment. Because the differential signal can be transmitted in a long distance and has strong anti-interference capability, the transmission distance between the encoder and the external diagnostic equipment can be increased.
In addition, the external diagnostic equipment can acquire the running parameters of the encoder through the I2C driving module, and can also transmit information for adjusting the running parameters of the encoder through the I2C driving module.
Specifically, the I2C driver module includes two RS485 chips and a conversion circuit, as shown in fig. 2. In this embodiment, the RS485 chip is an MAX485 chip. The clock line (SCL) of the I2C interface is converted into differential output (SCL +, SCL-) through the MAX485 chip, and the data line (SDA) is converted into differential output (SDA +, SDA-) through the conversion circuit and the MAX485 chip. The I2C driving module is used for differential transmission, so that the transmission distance and the anti-interference capability can be improved, and the cost is low.
Compared with the prior art, because the encoder contains the I2C interface, external diagnostic equipment can read the operating parameters in the built-in register of the encoder on line through the I2C interface and adjust the operating parameters on line according to the read operating parameters, so that the encoder is not required to be dismantled for maintenance, the disassembly times of the encoder during maintenance are reduced, the service life and the maintenance efficiency of the encoder are improved, the design complexity is reduced, and the reliability of the adjustment of the encoder is improved.
In addition, it should be noted that in practical applications, the I2C driving module may also adopt an I2C bus driving chip to increase the transmission distance, and in specific implementation, the driving module may be selected according to the situation, and is not described herein again.
A second embodiment of the present invention relates to an external diagnostic apparatus, specifically as shown in fig. 3, including: an information processing and compensating unit and a display module. Wherein, the information processing and compensating unit is connected with the display module. In this embodiment, the external diagnostic device is a hand-held device or an elevator controller.
And the information processing and compensating unit is used for diagnosing and compensating the operating parameters read from the built-in register of the encoder.
Specifically, the information processing and compensating unit includes: the device comprises a signal detection module, a signal processing and information extraction module, a state judgment and compensation information decoding module, a state information processing module and a communication module.
And the state information processing module reads the parameters of the basic state from the encoder through the communication module.
And the signal detection module is used for outputting the effective signals serving as sampling signals to the information processing and information extraction module when the effective signals are detected from the two paths of sine and cosine orthogonal signals read by the encoder. The sine signal is represented by Sin and the cosine signal is represented by Cos. The signal detection module comprises a signal conditioner and an analog-to-digital converter. The signal conditioner amplifies the sine and cosine signals to a certain amplitude, and the digital-to-analog converter samples the amplified sine and cosine signals.
In addition, the encoder in the present embodiment is an incremental encoder that outputs sine and cosine analog signals.
The signal processing and information extraction module combines the parameters of the basic state read by the communication module with the operation parameters carried by the sampling signals and then processes the parameters, and the combination and processing mode of the two modules is as follows: firstly, parameters of a basic state of an encoder are extracted through a communication module, then parameters of amplitudes, direct current offsets, phases and the like of sine and cosine signals obtained through sampling are respectively extracted, and the information is packaged and then output to a state judgment and compensation decoding module.
The state judgment and compensation information decoding module judges and decodes the state of the encoder according to the received information, acquires the compensation information corresponding to the register and the operation parameter of the final state, and outputs the compensation information to the encoder through the communication module so that the encoder can compensate the current operation parameter; the operating parameters of the final state of the encoder are also output to the state information processing module.
And the state information processing module reads the operation parameters of the final state of the encoder from the state judgment and compensation information decoding module, diagnoses according to the read information (including the parameters of the basic state and the operation parameters of the final state of the encoder), and acquires the diagnosis state of the encoder.
And the display module displays the diagnosis state acquired by the state information processing module for the maintainers to check and know the running state of the encoder and the existing problems.
A third embodiment of the present invention relates to an online diagnosis and adjustment method, as shown in fig. 4, including the steps of:
in step 401, the external diagnostic device reads the parameters of the basic state of the encoder from the register through the I2C interface of the encoder. The parameters of the basic state include operation parameters such as amplitude, direct current offset and phase of the output signal.
Step 402, determining whether the environment is overheated according to the parameters of the basic state. If yes, go to step 403, otherwise go to step 404.
In step 403, it is diagnosed that the output of the encoder is abnormal due to the overheating of the environment.
Step 404, determine if the signal is lost. If yes, go to step 405, otherwise go to step 406.
At step 405, a loss of encoder signal is diagnosed.
Step 406, calculate the dc offset.
Specifically, in this step, the dc offset of the encoder output signal may be obtained by averaging the values sampled over one or several cycles. Let N be the number of sampling points in the time interval for calculating the DC offset, USOIs a DC offset of the sinusoidal signal, UCOIs the dc offset of the cosine signal. The two signal offsets from the above analysis are shown below:
wherein u isSiAnd uCiRespectively representing the instantaneous values of sine and cosine signals at the ith sampling moment, wherein i and N are both natural numbers.
Step 407, determine whether the dc offset is normal. If yes, go to step 411, otherwise go to step 408. Specifically, the two signal offsets are respectively determined, and when both are normal, the direct current offset is determined to be normal, otherwise, the direct current offset is determined to be abnormal.
Step 408, determining whether the number of times of the dc offset compensation reaches a preset number of times. If yes, go to step 409, otherwise go to step 410. In the present embodiment, the preset number of times is 3, the initial value of the number of times of dc offset compensation is 0, and the number of times of dc offset compensation is increased by 1 after each compensation.
In step 409, an encoder failure is diagnosed. The maintainer can consider to dismantle and overhaul the encoder.
Step 410, compensating for the DC offset.
From step 406 to step 410, when there is no difference in the encoder basic state, calculation of the dc offset of the output signal is started. If the dc offset is normal, step 411 is executed, and if the dc offset is abnormal, the dc offset is compensated. If one compensation is successful, step 411 is performed, and if three compensations are successful, step 411 is also performed. If the three compensations fail, the encoder cannot work normally, the encoder is diagnosed to be damaged, and the encoder needs to be disassembled for maintenance.
In step 411, the amplitude is calculated.
In this step, the number of sampling points in the amplitude extraction period is set to N, USmaxAnd UCmaxRespectively representing the maximum value of the sine and cosine signals, USminAnd UCminRespectively representing the minimum of the sine and cosine signals. U shapeSAnd UCRepresents the amplitude of sine and cosine signals, and lambda is the amplitude deviation of the sine and cosine signals. u. ofSiAnd uCiAnd the sampling value represents the ith time sampling value of the sine and cosine signals, wherein i and N are both natural numbers, and i is 1,2, … … and N.
Where max () is taken as the maximum value and min () is taken as the minimum value.
In step 412, it is determined whether the amplitude is normal. If yes, go to step 416, otherwise go to step 413. Specifically, to US、UCRespectively judging with lambda if the three are presetWithin the range, the amplitude is normal, otherwise, the amplitude is abnormal.
In step 413, it is determined whether the amplitude compensation reaches a predetermined number of times. If yes, go to step 414, otherwise go to step 415. In the present embodiment, the preset number of times is 3.
At step 414, an encoder failure is diagnosed. The maintainer can consider to dismantle and overhaul the encoder.
Step 415, amplitude compensation.
Specifically, two factors need to be considered when performing amplitude compensation, namely the amplitudes of the sine and cosine signals themselves and the amplitude deviation of the sine and cosine signals. In the amplitude adjustment process, the amplitude adjustment can be performed in two situations, namely the amplitudes of the sine signal and the cosine signal are equal, and the amplitudes of the sine signal and the cosine signal are different. Let KS、KCAre respectively US、UCAmplitude adjustment coefficient of (U)S1、UC1The amplitude values are adjusted by sine and cosine signals. Wherein,
the following is presented in three cases.
(1)US＝UC
KS＝KCAnd the amplitude is increased, decreased or unchanged according to the amplitude.
(2)US>UC
A. When both amplitudes are greater than normal: first according to KS＝KCAdjusting UCTo the normal amplitude range and then decreasing KSSo that both are equal in magnitude.
B.USGreater than normal value, UCWhen the values belong to normal values: reduction of KSSo that both are equal in magnitude.
C. Both are less than normal: first according to KS＝KCAdjusting USTo normal amplitude and then increasing KCSo that both are equal in magnitude.
(3)US<UC
The analysis adjustment method is similar to (2), and is not described herein again.
From step 411 to step 415, when the dc offset of the output signal of the encoder is normal, the amplitude of the output signal starts to be calculated. If the amplitude is normal, step 416 is performed, and if the amplitude is abnormal, the amplitude is compensated. If one compensation is successful, step 416 is performed, and if three compensations are successful, step 416 is also performed. If the three compensations fail, the encoder cannot work normally, the encoder is diagnosed to be damaged, and the encoder needs to be disassembled for maintenance.
Step 416, calculate the phase difference.
Specifically, when the phase difference between the sine signal and the cosine signal is normal, the phase difference between the zero-crossing points of the sine signal and the cosine signal isPhase difference between zero crossing point of cosine and sineAre equal. When the sine signal and the cosine signal are in quadrature, the cosine signal has a lag phase angle thetadBy calculating thetadThe encoder phase compensation value can be obtained after the size of the encoder is decoded. ThetadThe calculation method of (c) is as follows:
wherein,
can be obtained by the two formulas
By reading the value of the counter at three zero crossings of the sine and cosine signalAndthe values thus obtained are substituted into the above formula to obtain θdThe value of (c). Wherein the first zero crossing starts the counter to count and the second zero crossing readsThird zero crossing readingAndsum of phiSCFrom phiSCMinusIs ready to obtain
The method for calculating the phase difference is simple and easy to implement.
Furthermore, a sufficient number of sampling points is adopted, and a dot product summation mode is adopted to obtain the phase difference of the sine signal and the cosine signal.
Specifically, in practical cases, the instantaneous values of the sine and cosine signals are:
after the amplitude adjustment, the amplitudes of the sine signal and the cosine signal are equal, and U is takenS＝UCM. Discretizing the above formula to obtain a discretization equation as follows:
where N is the number of sampling points, t is the sampling time, and i is 1,2, … …, N. The two groups of data are subjected to dot product summation to obtain
Before discretization, the dot product of instantaneous values of sine and cosine signals is as follows:
if N is large enough and θdSmaller, then there are
As can be seen from the above equation, the dot product and phase angle deviation theta of the sampling pointsdProportional relationship, and theta can be calculated with the known amplitude MdAnd then a phase compensation value can be calculated to compensate the phase.
In step 417, it is determined whether the phase difference is normal. If so, go to step 421, otherwise go to step 418.
Step 418, determine whether the phase difference compensation reaches a predetermined number of times. If yes, go to step 419, otherwise go to step 420. In the present embodiment, the preset number of times is 3.
In step 419, an encoder failure is diagnosed. The maintainer can consider to dismantle and overhaul the encoder.
And step 420, compensating the phase difference.
From step 416 to step 420, when the amplitude of the output signal of the encoder is normal, the calculation of the phase difference of the output signal is started. If the phase difference is normal, step 421 is executed, and if the amplitude is abnormal, the amplitude is compensated. If the compensation is successful once, step 421 is performed, and if the compensation can be successfully performed three times, step 421 is also performed. If the three compensations fail, the encoder cannot work normally, the encoder is diagnosed to be damaged, and the encoder needs to be disassembled for maintenance.
In this embodiment, from step 406 to step 420, the operating state of the encoder is determined sequentially according to the amplitude, the dc offset, and the phase of the output signal of the encoder, and the corresponding operating parameter is adjusted according to the determined operating state until the corresponding operating parameter is within the preset range.
Step 421, status information processing. In this step, the parameters of the basic state and the operating parameters of the encoder (the amplitude, dc offset, and phase of the output signal of the encoder) are processed to obtain diagnostic information, determine the health state of the encoder, and output and display the diagnostic information for reference by the maintenance personnel.
The health status of the encoder can be classified into the following levels:
health: the amplitude, the direct current offset and the phase difference are normal and do not need to be compensated.
Good: the amplitude, dc offset, and phase difference are abnormal within acceptable ranges, and the encoder may or may not compensate slightly (depending on the set range). That is, when the abnormality is within the set range, the compensation is not performed, and when the abnormality is outside the set range, the compensation can be performed slightly.
Poor: unacceptable anomalies in amplitude, dc offset, and phase difference occur, but can be restored to good or healthy condition by compensation.
Difference: the situation that the signal loss or the amplitude and the direct current offset phase of the encoder cannot be compensated occurs. At this moment, the encoder has problems, and the encoder needs to be disassembled to further search the reason.
And the maintainer can know the running condition of the encoder according to the displayed health state of the encoder.
The steps of the method are divided for clarity of description, and the method can be implemented by combining the steps into one step or splitting some steps into a plurality of steps, and the steps are within the protection scope of the patent as long as the steps contain the same logical relationship; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
It should be understood that this embodiment is a method example corresponding to the first and second embodiments, and may be implemented in cooperation with the first and second embodiments. The related technical details mentioned in the first embodiment and the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can be applied to the first embodiment and the second embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (9)
1. An online diagnosis and adjustment method, comprising the steps of:
if the basic state of the encoder is normal, the external diagnostic equipment reads the operating parameters of the encoder from a register built in the encoder through an I2C interface on the encoder; the encoder is an incremental encoder with sine and cosine analog output, and the operation parameters comprise the amplitude, the direct current offset and the phase of an output signal of the encoder;
the encoder includes: the signal conditioning chip and the I2C driving module;
the signal conditioning chip is internally provided with a register and comprises an I2C interface which is communicated with the I2C driving module;
the operating parameters of the encoder stored in the built-in register of the signal conditioning chip are read and adjusted by external diagnostic equipment through the I2C interface;
the I2C driving module converts the information output by the signal conditioning chip through the I2C interface into differential signals to be output to the external diagnostic equipment;
and the external diagnostic equipment determines the running state of the encoder according to the running parameters, adjusts the running parameters according to the running state until the running parameters are in a preset range, and otherwise, judges that the encoder is abnormal.
2. The on-line diagnosis and adjustment method according to claim 1, wherein before the step of reading the operation parameters of the encoder from the built-in register of the encoder by the external diagnosis device through the I2C interface on the encoder, the method comprises the following steps:
the external diagnostic device reads the parameters of the basic state of the encoder from the register through the I2C interface;
and according to the parameters of the basic state, judging that the encoder is abnormal when the encoder is detected to be overheated due to environment or lost signals, and otherwise, judging that the basic state of the encoder is normal.
3. The on-line diagnosis and adjustment method according to claim 1, wherein in the step of determining the operation state of the encoder according to the operation parameter by the external diagnosis device and adjusting the operation parameter according to the operation state until the operation parameter is within a preset range,
and determining the running state of the encoder according to the amplitude, the direct current offset and the phase of the output signal of the encoder in sequence, and adjusting the corresponding running parameters according to the running state until the corresponding running parameters are in a preset range.
4. An encoder, comprising: the signal conditioning chip and the I2C driving module;
the signal conditioning chip is internally provided with a register and comprises an I2C interface which is communicated with the I2C driving module;
the operating parameters of the encoder stored in the built-in register of the signal conditioning chip are read and adjusted by external diagnostic equipment through the I2C interface; wherein the operating parameters include an amplitude, a DC offset, and a phase of an output signal of the encoder;
the I2C driving module converts the information output by the signal conditioning chip through the I2C interface into differential signals to be output to the external diagnostic equipment.
5. The encoder of claim 4, further comprising a memory configured with the operating parameters;
and loading the parameters in the memory into the register through an I2C interface after the system is powered on.
6. The encoder according to claim 4, further comprising an optoelectronic chip IC;
the photoelectric IC is connected with the signal conditioning chip;
the photoelectric IC is used for converting a received optical signal into a voltage signal and outputting the voltage signal to the signal conditioning chip; wherein the voltage signal is a raw voltage signal of the photovoltaic cell.
7. An external diagnostic device applied to the encoder according to claim 4, the external diagnostic device comprising: the device comprises an information processing and compensating unit and a display module;
the information processing and compensating unit is connected with the display module;
the information processing and compensating unit diagnoses and compensates the operating parameters read from the built-in register of the encoder;
the display module displays the diagnosis state.
8. The external diagnostic apparatus of claim 7, wherein the information processing and compensating unit comprises: the device comprises a signal detection module, a signal processing and information extraction module, a state judgment and compensation information decoding module, a state information processing module and a communication module;
the state information processing module reads the parameters of the basic state from the encoder through the communication module, then reads the operation parameters of the final state of the encoder from the state judgment and compensation information decoding module, diagnoses according to the read information and obtains the diagnosis state;
the signal detection module is used for outputting the effective signal serving as a sampling signal to the information processing and extracting module when the effective signal is detected from the two paths of sine and cosine orthogonal signals read by the encoder;
the signal processing and information extracting module combines the parameters of the basic state read by the communication module with the operation parameters carried by the sampling signal, processes the parameters and outputs the parameters to the state judging and compensating information decoding module;
and the state judgment and compensation information decoding module judges and decodes the state of the encoder according to the received information, acquires the compensation information corresponding to the register and the operation parameter of the final state, and outputs the compensation information to the encoder through the communication module.
9. The external diagnostic device of claim 7, wherein the external diagnostic device is a handheld device or an elevator controller.
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| CN108233816A (en) * | 2017-12-20 | 2018-06-29 | 湖南省军民融合装备技术创新中心 | A kind of method and apparatus for the processing of rotor position signal synthesis |
| CN111156893B (en) * | 2019-12-27 | 2021-08-10 | 深圳市越疆科技有限公司 | Motor operation angle measuring method and system and joint angle measuring system |
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